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46 lines
1.4 KiB
C++
46 lines
1.4 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#include "test_precomp.hpp"
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CV_TEST_MAIN("cv")
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namespace opencv_test { namespace {
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TEST(CV_Rapid, rapid)
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{
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// a unit sized box
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std::vector<Vec3f> vtx = {
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{1, -1, -1}, {1, -1, 1}, {-1, -1, 1}, {-1, -1, -1}, {1, 1, -1}, {1, 1, 1}, {-1, 1, 1}, {-1, 1, -1},
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};
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std::vector<Vec3i> tris = {
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{2, 4, 1}, {8, 6, 5}, {5, 2, 1}, {6, 3, 2}, {3, 8, 4}, {1, 8, 5},
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{2, 3, 4}, {8, 7, 6}, {5, 6, 2}, {6, 7, 3}, {3, 7, 8}, {1, 4, 8},
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};
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Mat(tris) -= Scalar(1, 1, 1);
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// camera setup
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Size sz(1280, 720);
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Mat K = getDefaultNewCameraMatrix(Matx33f::diag(Vec3f(800, 800, 1)), sz, true);
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Vec3f trans = {0, 0, 5};
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Vec3f rot = {0.7f, 0.6f, 0};
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// draw something
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Mat pts2d;
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projectPoints(vtx, rot, trans, K, noArray(), pts2d);
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Mat_<uchar> img(sz, uchar(0));
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rapid::drawWireframe(img, pts2d, tris, Scalar(255), LINE_8);
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// recover pose form different position
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Vec3f t_init = Vec3f(0.1f, 0, 5);
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for(int i = 0; i < 2; i++) // do two iteration
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rapid::rapid(img, 100, 20, vtx, tris, K, rot, t_init);
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// assert that it improved from init
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ASSERT_LT(cv::norm(trans - t_init), 0.075);
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}
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}} // namespace
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